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<a href="_simple_grasping_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// BSD 3-Clause License</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">// Copyright (c) 2017, Rishabh Biyani</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// All rights reserved.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice, this</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright notice,</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// this list of conditions and the following disclaimer in the documentation</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// and / or other materials provided with the distribution.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// * Neither the name of the copyright holder nor the names of its</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;image_transport/image_transport.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;sensor_msgs/image_encodings.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;geometry_msgs/PoseStamped.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;moveit/move_group_interface/move_group_interface.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;moveit/planning_scene_interface/planning_scene_interface.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;moveit_msgs/DisplayRobotState.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;moveit_visual_tools/moveit_visual_tools.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;cv_bridge/cv_bridge.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;tf/transform_listener.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &quot;robotarm_grasping/VisionManager.h&quot;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="class_simple_grasping.html">   50</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_simple_grasping.html">SimpleGrasping</a> {</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    ros::NodeHandle nh_;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    geometry_msgs::Pose target_pose1;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    moveit::planning_interface::MoveGroupInterface armgroup;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    moveit::planning_interface::MoveGroupInterface grippergroup;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    image_transport::ImageTransport it_;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    image_transport::Subscriber image_sub_;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">bool</span> grasp_running;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    cv_bridge::CvImagePtr cv_ptr;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <a class="code" href="class_vision_manager.html">VisionManager</a> vMng_;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    tf::StampedTransform camera_to_robot_;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    tf::TransformListener tf_camera_to_robot;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    tf::Vector3 obj_camera_frame, obj_robot_frame;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    geometry_msgs::PoseStamped homePose;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    moveit::planning_interface::MoveGroupInterface::Plan my_plan;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordtype">float</span> pregrasp_x, pregrasp_y, pregrasp_z;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordtype">void</span> attainPosition(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordtype">void</span> attainObject();</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keywordtype">void</span> grasp();</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordtype">void</span> lift();</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <a class="code" href="class_simple_grasping.html#a2378696c46e6f023d5032919b1af8fad">SimpleGrasping</a>(ros::NodeHandle n_, <span class="keywordtype">float</span> pregrasp_x, <span class="keywordtype">float</span> pregrasp_y, <span class="keywordtype">float</span> pregrasp_z, <span class="keywordtype">float</span> length = 1, <span class="keywordtype">float</span> breadth = 0.6);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_simple_grasping.html#a133954726ab489d9c5d7c20b4504eb82">imageCb</a>(<span class="keyword">const</span> sensor_msgs::ImageConstPtr&amp; msg);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_simple_grasping.html#adb6d0c8e6d4f0668c212181bb82cf8ff">initiateGrasping</a>();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_simple_grasping.html#a771b6bba25730dbaf2ff72a4bd6938a1">goHome</a>();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;};</div>
<div class="ttc" id="class_simple_grasping_html_a2378696c46e6f023d5032919b1af8fad"><div class="ttname"><a href="class_simple_grasping.html#a2378696c46e6f023d5032919b1af8fad">SimpleGrasping::SimpleGrasping</a></div><div class="ttdeci">SimpleGrasping(ros::NodeHandle n_, float pregrasp_x, float pregrasp_y, float pregrasp_z, float length=1, float breadth=0.6)</div><div class="ttdoc">SimpleGrasping behaviour Constructor. </div><div class="ttdef"><b>Definition:</b> SimpleGrasping.cpp:39</div></div>
<div class="ttc" id="class_vision_manager_html"><div class="ttname"><a href="class_vision_manager.html">VisionManager</a></div><div class="ttdef"><b>Definition:</b> VisionManager.h:44</div></div>
<div class="ttc" id="class_simple_grasping_html"><div class="ttname"><a href="class_simple_grasping.html">SimpleGrasping</a></div><div class="ttdef"><b>Definition:</b> SimpleGrasping.h:50</div></div>
<div class="ttc" id="class_simple_grasping_html_a771b6bba25730dbaf2ff72a4bd6938a1"><div class="ttname"><a href="class_simple_grasping.html#a771b6bba25730dbaf2ff72a4bd6938a1">SimpleGrasping::goHome</a></div><div class="ttdeci">void goHome()</div><div class="ttdoc">Function brings the arm back to home configuration. </div><div class="ttdef"><b>Definition:</b> SimpleGrasping.cpp:202</div></div>
<div class="ttc" id="class_simple_grasping_html_a133954726ab489d9c5d7c20b4504eb82"><div class="ttname"><a href="class_simple_grasping.html#a133954726ab489d9c5d7c20b4504eb82">SimpleGrasping::imageCb</a></div><div class="ttdeci">void imageCb(const sensor_msgs::ImageConstPtr &amp;msg)</div><div class="ttdoc">imageCb is called when a new image is received from the camera </div><div class="ttdef"><b>Definition:</b> SimpleGrasping.cpp:75</div></div>
<div class="ttc" id="class_simple_grasping_html_adb6d0c8e6d4f0668c212181bb82cf8ff"><div class="ttname"><a href="class_simple_grasping.html#adb6d0c8e6d4f0668c212181bb82cf8ff">SimpleGrasping::initiateGrasping</a></div><div class="ttdeci">void initiateGrasping()</div><div class="ttdoc">initiateGrasping initiates the grasping behaviour </div><div class="ttdef"><b>Definition:</b> SimpleGrasping.cpp:215</div></div>
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